Integrate topic and node discovery directly into bridge?

[slessans]

I was wondering why the design leaves out discovery operations such as listing topics, nodes, services, etc. It seems like (by looking at the client library) that the bridge is designed to handle these operations by passing services calls off to a rosapi node rather than handling these requests itself.

I don't quite see what the upside of this is. It seems like it requires the user to run a separate rosapi node and integrate the messages and services etc when all of that functionality is already available to the bridge via the rclnodejs client.

I am happy to add these in myself if there are no objections to adding these new operations to the protocol.